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J. Sens. Actuator Netw. 2014, 3(1), 26-43; doi:10.3390/jsan3010026

Cooperative Control for Multiple Autonomous Vehicles Using Descriptor Functions

1
YANMAR R&D Europe, Florence 55100, Italy
2
Department of Information Engineering, University of Pisa, Pisa 56122, Italy
*
Author to whom correspondence should be addressed.
Received: 24 October 2013 / Revised: 13 December 2013 / Accepted: 17 December 2013 / Published: 2 January 2014
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Abstract

The paper presents a novel methodology for the control management of a swarm of autonomous vehicles. The vehicles, or agents, may have different skills, and be employed for different missions. The methodology is based on the definition of descriptor functions that model the capabilities of the single agent and each task or mission. The swarm motion is controlled by minimizing a suitable norm of the error between agents’ descriptor functions and other descriptor functions which models the entire mission. The validity of the proposed technique is tested via numerical simulation, using different task assignment scenarios.
Keywords: cooperative control; swarms; distributed networks; autonomous vehicles cooperative control; swarms; distributed networks; autonomous vehicles
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This is an open access article distributed under the Creative Commons Attribution License (CC BY 3.0).

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MDPI and ACS Style

Niccolini, M.; Pollini, L.; Innocenti, M. Cooperative Control for Multiple Autonomous Vehicles Using Descriptor Functions. J. Sens. Actuator Netw. 2014, 3, 26-43.

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